8 citations · 10 across the 5 of their papers we have counts for
Showing 2023 · cs.ROShow all
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cs.RO2023
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets
Thomas Cohn, Mark Petersen, Max Simchowitz +1
Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory o…
cs.RO2023★ 8 cited
Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming
Mark Petersen, Russ Tedrake
One of the most difficult parts of motion planning in configuration space is ensuring a trajectory does not collide with task-space obstacles in the environment. Generating regions…